#!/bin/sh
#
# @name Generic quad delta VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Simon Wilks <simon@uaventure.com>
#
# @output MAIN1 motor 1
# @output MAIN2 motor 2
# @output MAIN3 motor 3
# @output MAIN4 motor 4
# @output AUX1 Right elevon
# @output AUX2 Left elevon
# @output AUX3 Motor
#

sh /etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then
	param set MC_ROLL_P 6.5
	param set MC_ROLLRATE_P 0.15
	param set MC_ROLLRATE_I 0.01
	param set MC_ROLLRATE_D 0.003
	param set MC_ROLLRATE_FF 0
	param set MC_PITCH_P 6.5
	param set MC_PITCHRATE_P 0.15
	param set MC_PITCHRATE_I 0.01
	param set MC_PITCHRATE_D 0.003
	param set MC_PITCHRATE_FF 0
	param set MC_YAW_P 3.5
	param set MC_YAWRATE_P 0.2
	param set MC_YAWRATE_I 0.1
	param set MC_YAWRATE_D 0
	param set MC_YAWRATE_FF 0
	param set MC_YAWRATE_MAX 50
	param set MC_YAWRAUTO_MAX 20

	param set MPC_XY_P 0.8
	param set MPC_XY_VEL_P 0.1
	param set MPC_ACC_HOR_MAX 2

	param set PWM_AUX_DIS3 950
	param set PWM_RATE 400

	param set VT_MOT_COUNT 4
	param set VT_F_TRANS_THR 0.75
	param set VT_IDLE_PWM_MC 1080
	param set VT_TYPE 2

	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
	param set V19_VT_ROLLDIR 0
fi

set MAV_TYPE 22

set MIXER quad_x
set MIXER_AUX vtol_delta

set PWM_OUT 1234
